Four-rotor aircraft formation tracking control method

Abstract

The invention discloses a four-rotor aircraft formation tracking control method, which comprises the following steps that firstly, a layered control framework, an upper cooperative control layer and a lower tracking control layer are provided for formation control of unmanned aerial vehicles, and the cooperative control layer designs a cooperative algorithm based on a fixed time consistency theory; the virtual speed and the virtual position of the unmanned aerial vehicle can be obtained; the tracking control layer designs a tracking control algorithm based on the PID theory, so that the real positions and the real speeds of the unmanned aerial vehicles track the virtual positions and the virtual speeds respectively, and the multiple unmanned aerial vehicles achieve the expected formation form. According to the control method adopted by the invention, the formation of multiple unmanned aerial vehicles can be realized more quickly, and the convergence time is not influenced by the initial conditions of the unmanned aerial vehicles.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a formation tracking control method for quadrotor aircraft. Background technique [0002] Multi-quadrotor UAV systems have been widely used in various fields, such as agricultural plant protection, aerial photogrammetry, and emergency rescue. Compared with single quadrotor drones, multi-quadrotor systems show some advantages when performing some complex and dangerous tasks, such as higher fault tolerance, better flexibility and higher efficiency. More importantly, the multi-quadrotor system has a wide exploration field of view and can carry more equipment, which plays an important role in both military and civilian applications. Distributed cooperative control of multi-UAVs has always been a research hotspot in the field of swarm intelligence. In some complex or dangerous situations, such as reconnaissance and strikes, rescue in disaster areas, and target search...

AI Technical Summary

Problems solved by technology

Distributed cooperative control of multi-UAVs has always been a research hotspot in the field of swarm intelligence. In some complex or dangerous situations, such as reconnaissance and strikes, rescue in disaster areas, and target search, however, so far, most of the UAV formations that have appeared They are all controlled by centralized ground stations. UAVs do not have the ability to make decisions independently. Once the central control computer has a problem, all UAVs will not be able to fly.

In addition, due to its complex dynamics and high coupling of control parameters, multi-quadrotor UAVs pose certain challenges to the coordinated formation control of multi-UAVs.

However, most of the existing control algorithms are stable in infinite time, the convergence rate, anti-interference and robustness need to be improved, and the convergence time is also affected by the initial state of multiple UAVs.

Images